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Fair Value of Financial Assets and Liabilities - Assumptions (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 07, 2022
Jul. 06, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Fair Value Measurement Inputs and Valuation Techniques [Line Items]          
Risk-free interest rate     3.40% 1.00% 0.60%
Expected term (in years)     6 years 21 days 5 years 11 months 15 days 6 years 3 days
Expected volatility     96.00% 97.30% 94.90%
Expected dividend yield     0.00% 0.00% 0.00%
Warrant          
Fair Value Measurement Inputs and Valuation Techniques [Line Items]          
Share Price $ 0.93   $ 0.99    
Risk-free interest rate 3.75% 3.95% 4.00%    
Expected term (in years) 5 years 5 years 10 months 9 days 4 years 11 months 1 day    
Expected volatility 101.80% 96.96% 101.70%    
Expected dividend yield 0.00% 0.00% 0.00%    
Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Liability Value   $ 41.2